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五自由度搬运机器人系统设计与运动学分析
丁磊1; 李恩1; 谭民1; 王逸洲2
Source Publication华中科技大学学报(自然科学版)
2015-10
Volume43Issue:s1Pages:19-22
Other Abstract设计了一种用于冲压生产线上下料操作的新型五自由度搬运机器人.首先,结合冲压生产线的应用需求设计了机器人的机械结构,并进一步构建了其控制系统;然后,对机器人运动学进行分析,建立机器人连杆坐标系,利用D-H法描述机器人正向运动学模型,并求解机器人逆运动学;最后,对机器人工作空间和运动精度进行描述,将工作空间分别投影到xy,xz,yz三个平面得到其具体参数,利用雅可比矩阵求解各关节最大容许误差,对机器人的参数设计和轨迹规划具有指导意义.;

A new 5 degree of freedom handling robot for punching production line was designed in this paper. Firstly, the robot mechanical structure was designed considering requirements of the punching production line. Then the control system was built. Secondly, the forward kinematics model was analyzed. The link coordinate system was established by the D-H method. The inverse kinematics was solved. Finally, workspace and movement precision was described. The workspace was projected to XY, XZ, YZ three planes to get its specific parameters. The maximum permissible error of each joint was solved using the Jacobian matrix. Kinematics, workspace and movement precision analysis are instructive to robot parameter design and trajectory planning.

Keyword五自由度搬运机器人 运动学 工作空间 运动精度 分析
Subject AreaTp242
DOI10.13245/j.hust.15s1005
Indexed ByEI
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14502
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.中国科学院自动化研究所
2.北京理工大学
Recommended Citation
GB/T 7714
丁磊,李恩,谭民,等. 五自由度搬运机器人系统设计与运动学分析[J]. 华中科技大学学报(自然科学版),2015,43(s1):19-22.
APA 丁磊,李恩,谭民,&王逸洲.(2015).五自由度搬运机器人系统设计与运动学分析.华中科技大学学报(自然科学版),43(s1),19-22.
MLA 丁磊,et al."五自由度搬运机器人系统设计与运动学分析".华中科技大学学报(自然科学版) 43.s1(2015):19-22.
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